findPose
Localize point cloud within map using normal distributions transform (NDT) algorithm
Since R2021a
Description
specifies options using one or more name-value arguments in addition to the
input arguments in previous syntax. For example,
currPose
= findPose(___,Name,Value
)"MaxIterations",30
sets the maximum number of iterations
before the function stops the NDT algorithm.
Examples
Input Arguments
Name-Value Arguments
Output Arguments
Tips
To improve the accuracy and efficiency of localization, consider downsampling the point cloud using
pcdownsample
before using this function.
References
[1] Biber, P., and W. Strasser. “The Normal Distributions Transform: A New Approach to Laser Scan Matching.” In Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453) Vol. 3, 2743–48. Las Vegas, Nevada, USA: IEEE, 2003. https://doi.org/10.1109/IROS.2003.1249285.
[2] Magnusson, Martin. "The Three-Dimensional Normal-Distributions Transform: An Efficient Representation for Registration, Surface Analysis, and Loop Detection." PhD thesis, Örebro universitet, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-8458 urn:nbn:se:oru:diva-8458.